Merge remote-tracking branch 'upstream/master'

Extras/ConvexDecomposition/premake4.lua

@@ -3,6 +3,9 @@
 	kind "StaticLib"
 	
 	includedirs {".","../../src"}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"**.cpp",
 		"**.h"

Extras/HACD/premake4.lua

@@ -3,6 +3,9 @@
 	kind "StaticLib"
 	
 	includedirs {"."}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"**.cpp",
 		"**.h"

Extras/InverseDynamics/premake4.lua

@@ -6,6 +6,9 @@
 		"../../src"
 	}
 
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"*.cpp",
 		"*.hpp"

Extras/Serialize/BulletFileLoader/premake4.lua

@@ -2,6 +2,10 @@
 		
 	kind "StaticLib"
 	
+	if os.is("Linux") then
+	    buildoptions{"-fPIC"}
+	end
+	 
 	includedirs {
 		"../../../src"
 	}

Extras/Serialize/BulletWorldImporter/premake4.lua

@@ -6,7 +6,11 @@
 		"../BulletFileLoader",
 		"../../../src"
 	}
-	 
+
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
+    	 
 	files {
 		"**.cpp",
 		"**.h"

Extras/Serialize/BulletXmlWorldImporter/premake4.lua

@@ -1,7 +1,7 @@
 	project "BulletXmlWorldImporter"
 		
 	kind "StaticLib"
-	targetdir "../../lib"
+	--targetdir "../../lib"
 	includedirs {
 		"../BulletWorldImporter",
 		"../BulletFileLoader",
@@ -11,4 +11,4 @@
 	files {
 		"**.cpp",
 		"**.h"
-	}
+	}

Extras/VHACD/src/premake4.lua

@@ -1,6 +1,9 @@
 	project "vhacd"
 
 	kind "StaticLib"
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	includedirs {
 		"../inc","../public",
 	}

examples/ExampleBrowser/premake4.lua

@@ -3,7 +3,11 @@ project "App_BulletExampleBrowser"
         language "C++"
 
         kind "ConsoleApp"
-
+        
+        if os.is("Linux") then
+	        buildoptions{"-fPIC"}
+	    end
+        
         hasCL = findOpenCL("clew")
 
         if (hasCL) then
@@ -209,6 +213,10 @@ project "BulletExampleBrowserLib"
                 "../../src",
                 "../ThirdPartyLibs",
                 }
+                
+        if os.is("Linux") then
+            buildoptions{"-fPIC"}
+        end
 
 	if _OPTIONS["lua"] then
 		includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -1992,15 +1992,15 @@ void GLInstancingRenderer::drawLine(const float from[4], const float to[4], cons
 B3_ATTRIBUTE_ALIGNED16(struct) SortableTransparentInstance
 {
 	b3Scalar m_projection;
-	
+
 	int m_shapeIndex;
 	int m_instanceId;
 };
 
 B3_ATTRIBUTE_ALIGNED16(struct) TransparentDistanceSortPredicate
 {
-	
+
-	inline bool operator() (const SortableTransparentInstance& a, const SortableTransparentInstance& b) const
+	inline bool operator() (const SortableTransparentInstance& a, const SortableTransparentInstance& b) const 
 	{
 		
 		return (a.m_projection > b.m_projection);
@@ -2218,7 +2218,6 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 	}
 	
 	b3AlignedObjectArray<SortableTransparentInstance> transparentInstances;
-	
 	{
 		int curOffset = 0;
 		//GLuint lastBindTexture = 0;
@@ -2229,7 +2228,8 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 		m_data->m_activeCamera->getCameraForwardVector(fwd);
 		b3Vector3 camForwardVec;
 		camForwardVec.setValue(fwd[0],fwd[1],fwd[2]);
-
+		
+		
 		for (int obj=0;obj<m_graphicsInstances.size();obj++)
 		{
 			b3GraphicsInstance* gfxObj = m_graphicsInstances[obj];
@@ -2245,8 +2245,8 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 					inst.m_instanceId = curOffset;
 					b3Vector3 centerPosition;
 					centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
-											m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
+								m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
-											m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
+								m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
 					centerPosition *= -1;//reverse sort opaque instances
 					inst.m_projection = centerPosition.dot(camForwardVec);
 					transparentInstances.push_back(inst);
@@ -2256,10 +2256,10 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 					{
 						inst.m_instanceId = curOffset+i;
 						b3Vector3 centerPosition;
-						
+
 						centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
-												m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
+										m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
-												m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
+										m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
 						inst.m_projection = centerPosition.dot(camForwardVec);
 						transparentInstances.push_back(inst);
 					}
@@ -2270,6 +2270,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 		TransparentDistanceSortPredicate sorter;
 		
 		transparentInstances.quickSort(sorter);
+		
 	}
 
 	

examples/OpenGLWindow/premake4.lua

@@ -12,7 +12,11 @@
 		 	"../ThirdPartyLibs",
 		 	"../../src",
 		}
-		
+
+        if os.is("Linux") then
+            buildoptions{"-fPIC"}
+        end
+        		
 		--links {
 		--}
 		

examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp

@@ -1,7 +1,7 @@
 #include "b3RobotSimulatorClientAPI.h"
 
 #include "../SharedMemory/PhysicsClientC_API.h"
-#include "b3RobotSimulatorClientAPI_InternalData.h""
+#include "b3RobotSimulatorClientAPI_InternalData.h"
 #ifdef BT_ENABLE_ENET
 #include "../SharedMemory/PhysicsClientUDP_C_API.h"
 #endif  //PHYSICS_UDP

examples/SharedMemory/CMakeLists.txt

@@ -92,13 +92,14 @@ INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
 )
 
+IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+	LINK_LIBRARIES(BulletSoftBody)
+ENDIF()
+
 LINK_LIBRARIES(
  Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
 )
 
-IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-	LINK_LIBRARIES(BulletSoftBody)
-ENDIF()
 
 IF (WIN32)
         ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
@@ -149,7 +150,7 @@ INCLUDE_DIRECTORIES(
 ADD_DEFINITIONS(-DB3_USE_STANDALONE_EXAMPLE)
 
 LINK_LIBRARIES(
- Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK OpenGLWindow
+	BulletSoftBody Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK OpenGLWindow
 )
 
 

examples/SharedMemory/b3PluginManager.cpp

@@ -78,7 +78,7 @@ typedef b3PoolBodyHandle<b3Plugin> b3PluginHandle;
 struct b3PluginManagerInternalData
 {
 	b3ResizablePool<b3PluginHandle> m_plugins;
-	b3HashMap<b3HashString, b3PluginHandle*> m_pluginMap;
+	b3HashMap<b3HashString, int> m_pluginMap;
 	PhysicsDirect* m_physicsDirect;
 	b3AlignedObjectArray<b3KeyboardEvent> m_keyEvents;
 	b3AlignedObjectArray<b3VRControllerEvent> m_vrEvents;
@@ -102,8 +102,12 @@ b3PluginManager::~b3PluginManager()
 {
 	while (m_data->m_pluginMap.size())
 	{
-		b3PluginHandle** plugin = m_data->m_pluginMap.getAtIndex(0);
+		int* pluginUidPtr = m_data->m_pluginMap.getAtIndex(0);
-		unloadPlugin((*plugin)->m_pluginUniqueId);
+		if (pluginUidPtr)
+		{
+			int pluginUid = *pluginUidPtr;
+			unloadPlugin(*pluginUidPtr);
+		}
 	}
 	delete m_data->m_physicsDirect;
 	m_data->m_pluginMap.clear();
@@ -140,11 +144,11 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 {
 	int pluginUniqueId = -1;
 
-	b3PluginHandle** pluginOrgPtr = m_data->m_pluginMap.find(pluginPath);
+	int* pluginUidPtr = m_data->m_pluginMap.find(pluginPath);
-	if (pluginOrgPtr)
+	if (pluginUidPtr)
 	{
 		//already loaded
-		pluginUniqueId = (*pluginOrgPtr)->m_pluginUniqueId;
+		pluginUniqueId = *pluginUidPtr;
 	}
 	else
 	{
@@ -185,7 +189,7 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 					plugin->m_ownsPluginHandle = true;
 					plugin->m_pluginHandle = pluginHandle;
 					plugin->m_pluginPath = pluginPath;
-					m_data->m_pluginMap.insert(pluginPath, plugin);
+					m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);
 				}
 				else
 				{
@@ -246,16 +250,19 @@ void b3PluginManager::tickPlugins(double timeStep, bool isPreTick)
 {
 	for (int i=0;i<m_data->m_pluginMap.size();i++)
 	{
-		b3PluginHandle** pluginPtr = m_data->m_pluginMap.getAtIndex(i);
+		int* pluginUidPtr = m_data->m_pluginMap.getAtIndex(i);
 		b3PluginHandle* plugin = 0;
-		if (pluginPtr && *pluginPtr)
+
+		if (pluginUidPtr)
 		{
-			plugin = *pluginPtr;
+			int pluginUid = *pluginUidPtr;
+			plugin = m_data->m_plugins.getHandle(pluginUid);
 		}
 		else
 		{
 			continue;
 		}
+		
 		PFN_TICK  tick = isPreTick? plugin->m_preTickFunc : plugin->m_postTickFunc;
 		if (tick)
 		{
@@ -319,7 +326,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
 	pluginHandle->m_userPointer = 0;
 	
 
-	m_data->m_pluginMap.insert(pluginPath, pluginHandle);
+	m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);
 
 	{
 		b3PluginContext context;

examples/SharedMemory/premake4.lua

@@ -12,6 +12,9 @@ includedirs {".","../../src", "../ThirdPartyLibs"}
 links {
 	"BulletSoftBody", "Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics",	"BulletDynamics","BulletCollision", "LinearMath", "BussIK"
 }
+if os.is("Linux") then
+    links{"dl"}
+end
 
 language "C++"
 

examples/SharedMemory/tcp/premake4.lua

@@ -73,6 +73,7 @@ links {
         end
         if os.is("Linux") then
                 defines {"_LINUX"}
+                links{"dl"}
         end
         if os.is("MacOSX") then
                 defines {"_DARWIN"}

examples/SharedMemory/udp/premake4.lua

@@ -14,6 +14,7 @@ project ("App_PhysicsServerSharedMemoryBridgeUDP")
 		links {"Ws2_32","Winmm"}
 	end
 	if os.is("Linux") then
+	    links{"dl"}
 	end
 	if os.is("MacOSX") then
 	end		
@@ -68,6 +69,9 @@ if os.is("Windows") then
 	defines { "WIN32" }
 	links {"Ws2_32","Winmm"}
 end
+	if os.is("Linux") then
+	    links{"dl"}
+	end
 
 language "C++"
 

examples/ThirdPartyLibs/BussIK/premake4.lua

@@ -5,6 +5,9 @@
 	includedirs {
 		"."
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"*.cpp",
 		"*.h",

examples/ThirdPartyLibs/Gwen/premake4.lua

@@ -11,6 +11,9 @@ end
 	
 	defines { "GWEN_COMPILE_STATIC"  }
 	 defines { "DONT_USE_GLUT"}	
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	includedirs {
 		".",".."
 	}

examples/ThirdPartyLibs/clsocket/premake4.lua

@@ -16,6 +16,9 @@
 	includedirs {
 		".","include","src"
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"src/SimpleSocket.cpp",
 		"src/ActiveSocket.cpp",

examples/ThirdPartyLibs/enet/premake4.lua

@@ -18,6 +18,9 @@
 	includedirs {
 		".","include"
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"callbacks.c",
 		"compress.c",

examples/ThirdPartyLibs/lua-5.2.3/premake4.lua

@@ -18,6 +18,9 @@
 	includedirs {
 		"src"
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"src/*.c",
 		"src/*.h"

examples/ThirdPartyLibs/serial/premake4.lua

@@ -4,6 +4,9 @@
 	
 	includedirs {"include"}
 	
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	if os.is("Windows") then 
 		files{
 			 "src/impl/win.cc",

examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_diverse_object_grasping.py

@@ -47,7 +47,7 @@ def main():
         print(obs)
         episode_rew = 0
         while not done:
-            env.render()
+            env.render(mode='human')
             act = policy.sample_action(obs, .1)
             print("Action")
             print(act)

examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py

@@ -17,7 +17,7 @@ import time
 import subprocess
 import pybullet as p
 import pybullet_data
-
+from pkg_resources import parse_version
 
 logger = logging.getLogger(__name__)
 
@@ -64,10 +64,10 @@ class CartPoleBulletEnv(gym.Env):
 #    time.sleep(self.timeStep)
     self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
     theta, theta_dot, x, x_dot = self.state
-    
+
     dv = 0.1
     deltav = [-10.*dv,-5.*dv, -2.*dv, -0.1*dv, 0, 0.1*dv, 2.*dv,5.*dv, 10.*dv][action]
-    
+
     p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, targetVelocity=(deltav + self.state[3]))
 
     done =  x < -self.x_threshold \
@@ -99,3 +99,9 @@ class CartPoleBulletEnv(gym.Env):
 
   def _render(self, mode='human', close=False):
       return
+
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py

@@ -14,6 +14,8 @@ import pybullet as p
 from . import kuka
 import random
 import pybullet_data
+from pkg_resources import parse_version
+
 maxSteps = 1000
 
 RENDER_HEIGHT = 720
@@ -56,8 +58,8 @@ class KukaCamGymEnv(gym.Env):
     observationDim = len(self.getExtendedObservation())
     #print("observationDim")
     #print(observationDim)
-    
+
-    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)
     if (self._isDiscrete):
       self.action_space = spaces.Discrete(7)
     else:
@@ -74,15 +76,15 @@ class KukaCamGymEnv(gym.Env):
     p.setPhysicsEngineParameter(numSolverIterations=150)
     p.setTimeStep(self._timeStep)
     p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"),[0,0,-1])
-    
+
     p.loadURDF(os.path.join(self._urdfRoot,"table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
-    
+
     xpos = 0.5 +0.2*random.random()
     ypos = 0 +0.25*random.random()
     ang = 3.1415925438*random.random()
     orn = p.getQuaternionFromEuler([0,0,ang])
     self.blockUid =p.loadURDF(os.path.join(self._urdfRoot,"block.urdf"), xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
-            
+
     p.setGravity(0,0,-10)
     self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
     self._envStepCounter = 0
@@ -98,7 +100,7 @@ class KukaCamGymEnv(gym.Env):
     return [seed]
 
   def getExtendedObservation(self):
-     
+
      #camEyePos = [0.03,0.236,0.54]
      #distance = 1.06
      #pitch=-56
@@ -118,13 +120,13 @@ class KukaCamGymEnv(gym.Env):
      viewMat = [-0.5120397806167603, 0.7171027660369873, -0.47284144163131714, 0.0, -0.8589617609977722, -0.42747554183006287, 0.28186774253845215, 0.0, 0.0, 0.5504802465438843, 0.8348482847213745, 0.0, 0.1925382763147354, -0.24935829639434814, -0.4401884973049164, 1.0]
      #projMatrix = camInfo[3]#[0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
      projMatrix = [0.75, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
-     
+
      img_arr = p.getCameraImage(width=self._width,height=self._height,viewMatrix=viewMat,projectionMatrix=projMatrix)
      rgb=img_arr[2]
      np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
      self._observation = np_img_arr
      return self._observation
-  
+
   def _step(self, action):
     if (self._isDiscrete):
       dv = 0.01
@@ -142,7 +144,7 @@ class KukaCamGymEnv(gym.Env):
       realAction = [dx,dy,-0.002,da,f]
 
     return self.step2( realAction)
-     
+
   def step2(self, action):
     for i in range(self._actionRepeat):
       self._kuka.applyAction(action)
@@ -158,11 +160,11 @@ class KukaCamGymEnv(gym.Env):
 
     #print("self._envStepCounter")
     #print(self._envStepCounter)
-    
+
     done = self._termination()
     reward = self._reward()
     #print("len=%r" % len(self._observation))
-    
+
     return np.array(self._observation), reward, done, {}
 
   def _render(self, mode='human', close=False):
@@ -190,18 +192,18 @@ class KukaCamGymEnv(gym.Env):
     #print (self._kuka.endEffectorPos[2])
     state = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
     actualEndEffectorPos = state[0]
-      
+
     #print("self._envStepCounter")
     #print(self._envStepCounter)
     if (self.terminated or self._envStepCounter>maxSteps):
       self._observation = self.getExtendedObservation()
       return True
-    maxDist = 0.005 
+    maxDist = 0.005
     closestPoints = p.getClosestPoints(self._kuka.trayUid, self._kuka.kukaUid,maxDist)
-     
+
     if (len(closestPoints)):#(actualEndEffectorPos[2] <= -0.43):
       self.terminated = 1
-      
+
       #print("closing gripper, attempting grasp")
       #start grasp and terminate
       fingerAngle = 0.3
@@ -212,7 +214,7 @@ class KukaCamGymEnv(gym.Env):
         fingerAngle = fingerAngle-(0.3/100.)
         if (fingerAngle<0):
           fingerAngle=0
-    
+
       for i in range (1000):
         graspAction = [0,0,0.001,0,fingerAngle]
         self._kuka.applyAction(graspAction)
@@ -227,18 +229,18 @@ class KukaCamGymEnv(gym.Env):
         if (actualEndEffectorPos[2]>0.5):
           break
 
-    
+
       self._observation = self.getExtendedObservation()
       return True
     return False
-    
+
   def _reward(self):
-    
+
     #rewards is height of target object
     blockPos,blockOrn=p.getBasePositionAndOrientation(self.blockUid)
-    closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000, -1, self._kuka.kukaEndEffectorIndex) 
+    closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000, -1, self._kuka.kukaEndEffectorIndex)
 
-    reward = -1000    
+    reward = -1000
     numPt = len(closestPoints)
     #print(numPt)
     if (numPt>0):
@@ -254,3 +256,8 @@ class KukaCamGymEnv(gym.Env):
     #print(reward)
     return reward
 
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):  
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py

@@ -13,6 +13,7 @@ import pybullet as p
 from . import kuka
 import random
 import pybullet_data
+from pkg_resources import parse_version
 
 largeValObservation = 100
 
@@ -44,7 +45,7 @@ class KukaGymEnv(gym.Env):
     self._maxSteps = maxSteps
     self.terminated = 0
     self._cam_dist = 1.3
-    self._cam_yaw = 180 
+    self._cam_yaw = 180
     self._cam_pitch = -40
 
     self._p = p
@@ -61,8 +62,8 @@ class KukaGymEnv(gym.Env):
     observationDim = len(self.getExtendedObservation())
     #print("observationDim")
     #print(observationDim)
-    
+
-    observation_high = np.array([largeValObservation] * observationDim)    
+    observation_high = np.array([largeValObservation] * observationDim)
     if (self._isDiscrete):
       self.action_space = spaces.Discrete(7)
     else:
@@ -80,15 +81,15 @@ class KukaGymEnv(gym.Env):
     p.setPhysicsEngineParameter(numSolverIterations=150)
     p.setTimeStep(self._timeStep)
     p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"),[0,0,-1])
-    
+
     p.loadURDF(os.path.join(self._urdfRoot,"table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
-    
+
     xpos = 0.55 +0.12*random.random()
     ypos = 0 +0.2*random.random()
     ang = 3.14*0.5+3.1415925438*random.random()
     orn = p.getQuaternionFromEuler([0,0,ang])
     self.blockUid =p.loadURDF(os.path.join(self._urdfRoot,"block.urdf"), xpos,ypos,-0.15,orn[0],orn[1],orn[2],orn[3])
-            
+
     p.setGravity(0,0,-10)
     self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
     self._envStepCounter = 0
@@ -115,7 +116,7 @@ class KukaGymEnv(gym.Env):
      dir0 = [gripperMat[0],gripperMat[3],gripperMat[6]]
      dir1 = [gripperMat[1],gripperMat[4],gripperMat[7]]
      dir2 = [gripperMat[2],gripperMat[5],gripperMat[8]]
-             
+
      gripperEul =  p.getEulerFromQuaternion(gripperOrn)
      #print("gripperEul")
      #print(gripperEul)
@@ -126,17 +127,17 @@ class KukaGymEnv(gym.Env):
      #print(projectedBlockPos2D)
      #print("blockEulerInGripper")
      #print(blockEulerInGripper)
-     
+
      #we return the relative x,y position and euler angle of block in gripper space
      blockInGripperPosXYEulZ =[blockPosInGripper[0],blockPosInGripper[1],blockEulerInGripper[2]]
-     
+
      #p.addUserDebugLine(gripperPos,[gripperPos[0]+dir0[0],gripperPos[1]+dir0[1],gripperPos[2]+dir0[2]],[1,0,0],lifeTime=1)
      #p.addUserDebugLine(gripperPos,[gripperPos[0]+dir1[0],gripperPos[1]+dir1[1],gripperPos[2]+dir1[2]],[0,1,0],lifeTime=1)
      #p.addUserDebugLine(gripperPos,[gripperPos[0]+dir2[0],gripperPos[1]+dir2[1],gripperPos[2]+dir2[2]],[0,0,1],lifeTime=1)
-     
+
      self._observation.extend(list(blockInGripperPosXYEulZ))
      return self._observation
-  
+
   def _step(self, action):
     if (self._isDiscrete):
       dv = 0.005
@@ -154,7 +155,7 @@ class KukaGymEnv(gym.Env):
       f = 0.3
       realAction = [dx,dy,-0.002,da,f]
     return self.step2( realAction)
-     
+
   def step2(self, action):
     for i in range(self._actionRepeat):
       self._kuka.applyAction(action)
@@ -168,7 +169,7 @@ class KukaGymEnv(gym.Env):
 
     #print("self._envStepCounter")
     #print(self._envStepCounter)
-    
+
     done = self._termination()
     npaction = np.array([action[3]]) #only penalize rotation until learning works well [action[0],action[1],action[3]])
     actionCost = np.linalg.norm(npaction)*10.
@@ -177,14 +178,15 @@ class KukaGymEnv(gym.Env):
     reward = self._reward()-actionCost
     #print("reward")
     #print(reward)
- 
+
     #print("len=%r" % len(self._observation))
-    
+
     return np.array(self._observation), reward, done, {}
 
   def _render(self, mode="rgb_array", close=False):
     if mode != "rgb_array":
       return np.array([])
+    
     base_pos,orn = self._p.getBasePositionAndOrientation(self._kuka.kukaUid)
     view_matrix = self._p.computeViewMatrixFromYawPitchRoll(
         cameraTargetPosition=base_pos,
@@ -199,7 +201,12 @@ class KukaGymEnv(gym.Env):
     (_, _, px, _, _) = self._p.getCameraImage(
         width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
         projectionMatrix=proj_matrix, renderer=self._p.ER_BULLET_HARDWARE_OPENGL)
-    rgb_array = np.array(px)
+        #renderer=self._p.ER_TINY_RENDERER)
+
+        
+    rgb_array = np.array(px, dtype=np.uint8)
+    rgb_array = np.reshape(rgb_array, (RENDER_WIDTH, RENDER_HEIGHT, 4))
+		
     rgb_array = rgb_array[:, :, :3]
     return rgb_array
 
@@ -208,18 +215,18 @@ class KukaGymEnv(gym.Env):
     #print (self._kuka.endEffectorPos[2])
     state = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
     actualEndEffectorPos = state[0]
-      
+
     #print("self._envStepCounter")
     #print(self._envStepCounter)
     if (self.terminated or self._envStepCounter>self._maxSteps):
       self._observation = self.getExtendedObservation()
       return True
-    maxDist = 0.005 
+    maxDist = 0.005
     closestPoints = p.getClosestPoints(self._kuka.trayUid, self._kuka.kukaUid,maxDist)
-     
+
     if (len(closestPoints)):#(actualEndEffectorPos[2] <= -0.43):
       self.terminated = 1
-      
+
       #print("terminating, closing gripper, attempting grasp")
       #start grasp and terminate
       fingerAngle = 0.3
@@ -230,7 +237,7 @@ class KukaGymEnv(gym.Env):
         fingerAngle = fingerAngle-(0.3/100.)
         if (fingerAngle<0):
           fingerAngle=0
-    
+
       for i in range (1000):
         graspAction = [0,0,0.001,0,fingerAngle]
         self._kuka.applyAction(graspAction)
@@ -245,19 +252,19 @@ class KukaGymEnv(gym.Env):
         if (actualEndEffectorPos[2]>0.5):
           break
 
-    
+
       self._observation = self.getExtendedObservation()
       return True
     return False
-    
+
   def _reward(self):
-    
+
     #rewards is height of target object
     blockPos,blockOrn=p.getBasePositionAndOrientation(self.blockUid)
-    closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000, -1, self._kuka.kukaEndEffectorIndex) 
+    closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000, -1, self._kuka.kukaEndEffectorIndex)
 
     reward = -1000
-    
+
     numPt = len(closestPoints)
     #print(numPt)
     if (numPt>0):
@@ -276,10 +283,8 @@ class KukaGymEnv(gym.Env):
     #print(reward)
     return reward
 
-    def reset(self):
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
-        """Resets the state of the environment and returns an initial observation.
+    render = _render
-
+    reset = _reset
-        Returns: observation (object): the initial observation of the
+    seed = _seed
-            space.
+    step = _step
-        """
-        return self._reset()

examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py

@@ -10,7 +10,8 @@ import pybullet_data
 import pdb
 import distutils.dir_util
 import glob
-
+from pkg_resources import parse_version
+import gym
 
 class KukaDiverseObjectEnv(KukaGymEnv):
   """Class for Kuka environment with diverse objects.
@@ -323,4 +324,10 @@ class KukaDiverseObjectEnv(KukaGymEnv):
     selected_objects_filenames = []
     for object_index in selected_objects:
       selected_objects_filenames += [found_object_directories[object_index]]
-    return selected_objects_filenames
+    return selected_objects_filenames
+  
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    
+    reset = _reset
+    
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py

@@ -385,3 +385,8 @@ class MinitaurBulletDuckEnv(gym.Env):
           scale=self._observation_noise_stdev, size=observation.shape) *
                       self.minitaur.GetObservationUpperBound())
     return observation
+
+  render = _render
+  reset = _reset
+  seed = _seed
+  step = _step

examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py

@@ -20,6 +20,7 @@ from . import minitaur
 import os
 import pybullet_data
 from . import minitaur_env_randomizer
+from pkg_resources import parse_version
 
 NUM_SUBSTEPS = 5
 NUM_MOTORS = 8
@@ -376,3 +377,9 @@ class MinitaurBulletEnv(gym.Env):
           scale=self._observation_noise_stdev, size=observation.shape) *
                       self.minitaur.GetObservationUpperBound())
     return observation
+
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py

@@ -14,6 +14,7 @@ from . import racecar
 import random
 from . import bullet_client
 import pybullet_data
+from pkg_resources import parse_version
 
 RENDER_HEIGHT = 720
 RENDER_WIDTH = 960
@@ -50,8 +51,8 @@ class RacecarGymEnv(gym.Env):
     #self.reset()
     observationDim = 2 #len(self.getExtendedObservation())
     #print("observationDim")
-    #print(observationDim) 
+    #print(observationDim)
-    # observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    # observation_high = np.array([np.finfo(np.float32).max] * observationDim)
     observation_high = np.ones(observationDim) * 1000 #np.inf
     if (isDiscrete):
       self.action_space = spaces.Discrete(9)
@@ -59,7 +60,7 @@ class RacecarGymEnv(gym.Env):
        action_dim = 2
        self._action_bound = 1
        action_high = np.array([self._action_bound] * action_dim)
-       self.action_space = spaces.Box(-action_high, action_high) 
+       self.action_space = spaces.Box(-action_high, action_high)
     self.observation_space = spaces.Box(-observation_high, observation_high)
     self.viewer = None
 
@@ -74,14 +75,14 @@ class RacecarGymEnv(gym.Env):
     #	pos,orn = self._p.getBasePositionAndOrientation(i)
     #	newpos = [pos[0],pos[1],pos[2]-0.1]
     #	self._p.resetBasePositionAndOrientation(i,newpos,orn)
-    
+
     dist = 5 +2.*random.random()
     ang = 2.*3.1415925438*random.random()
-    
+
     ballx = dist * math.sin(ang)
     bally = dist * math.cos(ang)
     ballz = 1
-    
+
     self._ballUniqueId = self._p.loadURDF(os.path.join(self._urdfRoot,"sphere2.urdf"),[ballx,bally,ballz])
     self._p.setGravity(0,0,-10)
     self._racecar = racecar.Racecar(self._p,urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
@@ -101,18 +102,18 @@ class RacecarGymEnv(gym.Env):
   def getExtendedObservation(self):
      self._observation = [] #self._racecar.getObservation()
      carpos,carorn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
-     ballpos,ballorn = self._p.getBasePositionAndOrientation(self._ballUniqueId)      
+     ballpos,ballorn = self._p.getBasePositionAndOrientation(self._ballUniqueId)
      invCarPos,invCarOrn = self._p.invertTransform(carpos,carorn)
      ballPosInCar,ballOrnInCar = self._p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
-    
+
      self._observation.extend([ballPosInCar[0],ballPosInCar[1]])
      return self._observation
-     
+
   def _step(self, action):
     if (self._renders):
       basePos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
       #self._p.resetDebugVisualizerCamera(1, 30, -40, basePos)
-    
+
     if (self._isDiscrete):
 	    fwd = [-1,-1,-1,0,0,0,1,1,1]
 	    steerings = [-0.6,0,0.6,-0.6,0,0.6,-0.6,0,0.6]
@@ -128,14 +129,14 @@ class RacecarGymEnv(gym.Env):
       if self._renders:
         time.sleep(self._timeStep)
       self._observation = self.getExtendedObservation()
-      
+
       if self._termination():
         break
       self._envStepCounter += 1
     reward = self._reward()
     done = self._termination()
     #print("len=%r" % len(self._observation))
-    
+
     return np.array(self._observation), reward, done, {}
 
   def _render(self, mode='human', close=False):
@@ -159,13 +160,13 @@ class RacecarGymEnv(gym.Env):
     rgb_array = rgb_array[:, :, :3]
     return rgb_array
 
-    
+
   def _termination(self):
     return self._envStepCounter>1000
-    
+
   def _reward(self):
-    closestPoints = self._p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000) 
+    closestPoints = self._p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000)
-    
+
     numPt = len(closestPoints)
     reward=-1000
     #print(numPt)
@@ -174,3 +175,9 @@ class RacecarGymEnv(gym.Env):
       reward = -closestPoints[0][8]
       #print(reward)
     return reward
+
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py

@@ -14,6 +14,7 @@ from . import bullet_client
 from . import racecar
 import random
 import pybullet_data
+from pkg_resources import parse_version
 
 RENDER_HEIGHT = 720
 RENDER_WIDTH = 960
@@ -40,7 +41,7 @@ class RacecarZEDGymEnv(gym.Env):
     self._renders = renders
     self._width = 100
     self._height = 10
-    
+
     self._isDiscrete = isDiscrete
     if self._renders:
       self._p = bullet_client.BulletClient(
@@ -53,8 +54,8 @@ class RacecarZEDGymEnv(gym.Env):
     observationDim = len(self.getExtendedObservation())
     #print("observationDim")
     #print(observationDim)
-    
+
-    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)
     if (isDiscrete):
       self.action_space = spaces.Discrete(9)
     else:
@@ -77,14 +78,14 @@ class RacecarZEDGymEnv(gym.Env):
       pos,orn = self._p.getBasePositionAndOrientation(i)
       newpos = [pos[0],pos[1],pos[2]+0.1]
       self._p.resetBasePositionAndOrientation(i,newpos,orn)
-    
+
     dist = 5 +2.*random.random()
     ang = 2.*3.1415925438*random.random()
-    
+
     ballx = dist * math.sin(ang)
     bally = dist * math.cos(ang)
     ballz = 1
-    
+
     self._ballUniqueId = self._p.loadURDF(os.path.join(self._urdfRoot,"sphere2red.urdf"),[ballx,bally,ballz])
     self._p.setGravity(0,0,-10)
     self._racecar = racecar.Racecar(self._p,urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
@@ -104,13 +105,13 @@ class RacecarZEDGymEnv(gym.Env):
   def getExtendedObservation(self):
      carpos,carorn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
      carmat = self._p.getMatrixFromQuaternion(carorn)
-     ballpos,ballorn = self._p.getBasePositionAndOrientation(self._ballUniqueId)      
+     ballpos,ballorn = self._p.getBasePositionAndOrientation(self._ballUniqueId)
      invCarPos,invCarOrn = self._p.invertTransform(carpos,carorn)
      ballPosInCar,ballOrnInCar = self._p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
      dist0 = 0.3
      dist1 = 1.
      eyePos = [carpos[0]+dist0*carmat[0],carpos[1]+dist0*carmat[3],carpos[2]+dist0*carmat[6]+0.3]
-     targetPos = [carpos[0]+dist1*carmat[0],carpos[1]+dist1*carmat[3],carpos[2]+dist1*carmat[6]+0.3]      
+     targetPos = [carpos[0]+dist1*carmat[0],carpos[1]+dist1*carmat[3],carpos[2]+dist1*carmat[6]+0.3]
      up = [carmat[2],carmat[5],carmat[8]]
      viewMat = self._p.computeViewMatrix(eyePos,targetPos,up)
      #viewMat = self._p.computeViewMatrixFromYawPitchRoll(carpos,1,0,0,0,2)
@@ -122,12 +123,12 @@ class RacecarZEDGymEnv(gym.Env):
      np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
      self._observation = np_img_arr
      return self._observation
-     
+
   def _step(self, action):
     if (self._renders):
       basePos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
       #self._p.resetDebugVisualizerCamera(1, 30, -40, basePos)
-    
+
     if (self._isDiscrete):
             fwd = [-1,-1,-1,0,0,0,1,1,1]
             steerings = [-0.6,0,0.6,-0.6,0,0.6,-0.6,0,0.6]
@@ -143,14 +144,14 @@ class RacecarZEDGymEnv(gym.Env):
       if self._renders:
         time.sleep(self._timeStep)
       self._observation = self.getExtendedObservation()
-      
+
       if self._termination():
         break
       self._envStepCounter += 1
     reward = self._reward()
     done = self._termination()
     #print("len=%r" % len(self._observation))
-    
+
     return np.array(self._observation), reward, done, {}
 
   def _render(self, mode='human', close=False):
@@ -177,10 +178,10 @@ class RacecarZEDGymEnv(gym.Env):
 
   def _termination(self):
     return self._envStepCounter>1000
-    
+
   def _reward(self):
-    closestPoints = self._p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000) 
+    closestPoints = self._p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000)
-    
+
     numPt = len(closestPoints)
     reward=-1000
     #print(numPt)
@@ -189,3 +190,9 @@ class RacecarZEDGymEnv(gym.Env):
       reward = -closestPoints[0][8]
       #print(reward)
     return reward
+
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoidGymEnv.py

@@ -12,7 +12,7 @@ import time
 import pybullet as p
 from . import simpleHumanoid
 import random
-
+from pkg_resources import parse_version
 
 import pybullet_data
 
@@ -46,8 +46,8 @@ class SimpleHumanoidGymEnv(gym.Env):
     observationDim = len(self.getExtendedObservation())
     #print("observationDim")
     #print(observationDim)
-    
+
-    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)
     self.action_space = spaces.Discrete(9)
     self.observation_space = spaces.Box(-observation_high, observation_high)
     self.viewer = None
@@ -57,14 +57,14 @@ class SimpleHumanoidGymEnv(gym.Env):
     #p.setPhysicsEngineParameter(numSolverIterations=300)
     p.setTimeStep(self._timeStep)
     p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"))
-    
+
     dist = 5 +2.*random.random()
     ang = 2.*3.1415925438*random.random()
-    
+
     ballx = dist * math.sin(ang)
     bally = dist * math.cos(ang)
     ballz = 1
-        
+
     p.setGravity(0,0,-10)
     self._humanoid = simpleHumanoid.SimpleHumanoid(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
     self._envStepCounter = 0
@@ -82,7 +82,7 @@ class SimpleHumanoidGymEnv(gym.Env):
   def getExtendedObservation(self):
      self._observation = self._humanoid.getObservation()
      return self._observation
-     
+
   def _step(self, action):
     self._humanoid.applyAction(action)
     for i in range(self._actionRepeat):
@@ -96,7 +96,7 @@ class SimpleHumanoidGymEnv(gym.Env):
     reward = self._reward()
     done = self._termination()
     #print("len=%r" % len(self._observation))
-    
+
     return np.array(self._observation), reward, done, {}
 
   def _render(self, mode='human', close=False):
@@ -104,8 +104,14 @@ class SimpleHumanoidGymEnv(gym.Env):
 
   def _termination(self):
     return self._envStepCounter>1000
-    
+
   def _reward(self):
     reward=self._humanoid.distance
     print(reward)
     return reward
+
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -1,7 +1,7 @@
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np
 import pybullet as p
-
+from pkg_resources import parse_version
 
 class MJCFBaseBulletEnv(gym.Env):
 	"""
@@ -43,7 +43,7 @@ class MJCFBaseBulletEnv(gym.Env):
 			conInfo = p.getConnectionInfo()
 			if (conInfo['isConnected']):
 				self.ownsPhysicsClient = False
-				
+
 				self.physicsClientId = 0
 			else:
 				self.ownsPhysicsClient = True
@@ -75,12 +75,12 @@ class MJCFBaseBulletEnv(gym.Env):
 			self.isRender = True
 		if mode != "rgb_array":
 			return np.array([])
-		
+
 		base_pos=[0,0,0]
 		if (hasattr(self,'robot')):
 			if (hasattr(self.robot,'body_xyz')):
 				base_pos = self.robot.body_xyz
-		
+
 		view_matrix = p.computeViewMatrixFromYawPitchRoll(
 			cameraTargetPosition=base_pos,
 			distance=self._cam_dist,
@@ -100,6 +100,7 @@ class MJCFBaseBulletEnv(gym.Env):
 		rgb_array = rgb_array[:, :, :3]
 		return rgb_array
 
+
 	def _close(self):
 		if (self.ownsPhysicsClient):
 			if (self.physicsClientId>=0):
@@ -109,6 +110,18 @@ class MJCFBaseBulletEnv(gym.Env):
 	def HUD(self, state, a, done):
 		pass
 
+	# backwards compatibility for gym >= v0.9.x
+	# for extension of this class.
+	def step(self, *args, **kwargs):
+		return self._step(*args, **kwargs)
+
+	if parse_version(gym.__version__)>=parse_version('0.9.6'):
+		close = _close
+		render = _render
+		reset = _reset
+		seed = _seed
+
+
 class Camera:
 	def __init__(self):
 		pass

examples/pybullet/gym/pybullet_envs/examples/minitaur_gym_env_example.py

@@ -1,6 +1,12 @@
 r"""An example to run of the minitaur gym environment with sine gaits.
 """
 
+import os
+import inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
+
 import math
 import numpy as np
 from pybullet_envs.bullet import minitaur_gym_env

examples/pybullet/gym/pybullet_envs/examples/testBike.py

@@ -1,3 +1,9 @@
+import os
+import inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
+
 import pybullet as p
 import math
 import time

src/Bullet3Collision/premake4.lua

@@ -6,6 +6,9 @@
 		
 	includedirs {".."}
 
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 
 	files {
 		"**.cpp",

src/Bullet3Common/premake4.lua

@@ -4,6 +4,10 @@
 				
 	kind "StaticLib"
 		
+	if os.is("Linux") then
+	    buildoptions{"-fPIC"}
+	end
+
 	includedirs {".."}
 
 	files {

src/Bullet3Dynamics/premake4.lua

@@ -8,6 +8,9 @@
 		".."
 	}		
 	
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 
 	files {
 		"**.cpp",

src/Bullet3Geometry/premake4.lua

@@ -6,6 +6,9 @@
 		
 	includedirs {".."}
 	
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 
 	files {
 		"**.cpp",

src/Bullet3OpenCL/premake4.lua

@@ -9,6 +9,9 @@ function createProject(vendor)
 			
 		kind "StaticLib"
 		
+        if os.is("Linux") then
+            buildoptions{"-fPIC"}
+        end
 		
 		includedirs {
 			".",".."

src/Bullet3Serialize/Bullet2FileLoader/premake4.lua

@@ -5,6 +5,10 @@
 	includedirs {
 		"../../../src"
 	}
+	
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	 
 	files {
 		"**.cpp",

src/BulletCollision/premake4.lua

@@ -1,6 +1,9 @@
 	project "BulletCollision"
 
 	kind "StaticLib"
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	includedirs {
 		"..",
 	}

src/BulletDynamics/premake4.lua

@@ -3,6 +3,9 @@
 	includedirs {
 		"..",
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"Dynamics/*.cpp",
                 "Dynamics/*.h",

src/BulletInverseDynamics/premake4.lua

@@ -1,6 +1,9 @@
 	project "BulletInverseDynamics"
 
 	kind "StaticLib"
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	includedirs {
 		"..",
 	}

src/BulletSoftBody/premake4.lua

@@ -5,6 +5,9 @@
 	includedirs {
 		"..",
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"**.cpp",
 		"**.h"

src/LinearMath/premake4.lua

@@ -1,6 +1,9 @@
 	project "LinearMath"
 
 	kind "StaticLib"
+	if os.is("Linux") then
+	    buildoptions{"-fPIC"}
+	end
 	includedirs {
 		"..",
 	}

test/SharedMemory/CMakeLists.txt

@@ -11,13 +11,13 @@ INCLUDE_DIRECTORIES(
 #ADD_DEFINITIONS(-DGTEST_HAS_PTHREAD=1)
 ADD_DEFINITIONS(-DPHYSICS_LOOP_BACK -DPHYSICS_SERVER_DIRECT -DENABLE_GTEST -D_VARIADIC_MAX=10)
 
+IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+	LINK_LIBRARIES(BulletSoftBody)
+ENDIF()
 
 LINK_LIBRARIES(
  BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest BussIK
 )
-IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-	LINK_LIBRARIES(BulletSoftBody)
-ENDIF()
 
 IF (NOT WIN32)
 	LINK_LIBRARIES(		pthread	)

test/SharedMemory/premake4.lua

@@ -164,6 +164,9 @@ project ("Test_PhysicsServerLoopBack")
 			"BussIK",
 			"LinearMath"
 		}
+        if os.is("Linux") then
+            links{"dl"}
+        end
 			
 		files {
 			"test.c",
@@ -250,6 +253,9 @@ end
 			"BussIK",
 			"LinearMath"
 		}
+        if os.is("Linux") then
+            links{"dl"}
+        end
 			
 		files {
 			"test.c",

test/gtest-1.7.0/premake4.lua

@@ -16,3 +16,7 @@
 	includedirs {
 		".","include"
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
+